CN114604621A - Automatic machining robot for hub forging - Google Patents
Automatic machining robot for hub forging Download PDFInfo
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- CN114604621A CN114604621A CN202210343372.9A CN202210343372A CN114604621A CN 114604621 A CN114604621 A CN 114604621A CN 202210343372 A CN202210343372 A CN 202210343372A CN 114604621 A CN114604621 A CN 114604621A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G47/00—Article or material-handling devices associated with conveyors; Methods employing such devices
- B65G47/74—Feeding, transfer, or discharging devices of particular kinds or types
- B65G47/90—Devices for picking-up and depositing articles or materials
- B65G47/902—Devices for picking-up and depositing articles or materials provided with drive systems incorporating rotary and rectilinear movements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B21—MECHANICAL METAL-WORKING WITHOUT ESSENTIALLY REMOVING MATERIAL; PUNCHING METAL
- B21J—FORGING; HAMMERING; PRESSING METAL; RIVETING; FORGE FURNACES
- B21J13/00—Details of machines for forging, pressing, or hammering
- B21J13/08—Accessories for handling work or tools
- B21J13/10—Manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention relates to the technical field of wheel hub machining, in particular to an automatic wheel hub forging machining robot which comprises a mechanical arm, wherein a mechanical hand is arranged at the front end of the mechanical arm, the mechanical arm consists of a rail and an arm body, the mechanical hand comprises a connecting seat, the upper side and the lower side of the connecting seat are respectively and fixedly connected with a first clamping hand and a second clamping hand through rotating oil cylinders, the front side and the rear side of the connecting seat are respectively and fixedly connected with electromagnets at equal intervals, the center of the outer side of the connecting seat is fixedly connected with a camera, the rail comprises a base, the middle part of the base is rotatably connected with a first screw shaft, and a first sliding block is connected to the surface of the first screw shaft in a sliding manner The development of a full-automatic production line.
Description
Technical Field
The invention relates to the technical field of hub machining, in particular to an automatic hub forging machining robot.
Background
The hub is a cylindrical metal part with the inner contour of the tire supporting the tire and the center of the metal part is arranged on a shaft, and is also called a rim, a steel ring, a wheel and a tire bell, and the hub has various types according to the diameter, the width, the forming mode and the materials.
The mode that current wheel hub made mainly to adopt artifical with the transfer device carries out the transportation between each workshop section of wheel hub, still has intensity of labour big, and the risk that the potential safety hazard is high, and is unfavorable for producing the line and to intelligent, full automation line development.
Disclosure of Invention
The invention aims to provide an automatic hub forging processing robot to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a wheel hub forges automatic processing robot, includes the arm, the front end of arm is provided with the manipulator, the arm comprises track and arm body, the manipulator includes the connecting seat, the upper and lower both sides of connecting seat are first tong of fixedly connected with and second tong respectively through rotatory hydro-cylinder, the impartial distance fixedly connected with electro-magnet in preceding, the back both sides of connecting seat, the outside center fixedly connected with camera of connecting seat.
Preferably, the track includes the base, the middle part of base rotates and is connected with first silk axle, the surperficial sliding connection of first silk axle has first slider, the one end fixedly connected with pinion of first silk axle, the top meshing of pinion is connected with the master gear, the middle part fixedly connected with first motor of master gear, the shell of first motor is fixed in on the base.
Preferably, both sides of the first sliding block are slidably connected with first guide rods, and both ends of each first guide rod are fixedly connected with the base.
Preferably, the arm body comprises a second motor, the output end of the second motor is fixedly connected with a rotating frame, the front side of the rotating frame is rotatably connected with a first arm, the rear side of the top of the rotating frame is fixedly connected with a third motor, the output end of the third motor is fixedly connected with a first driving wheel, the surface of the first driving wheel is connected with a first driven wheel through a first synchronous belt transmission, the first driven wheel is fixedly connected with the first arm, one side of the outer end of the first arm is fixedly connected with a fourth motor, the output end of the fourth motor is fixedly connected with a second arm, the tail end of the second arm is fixedly connected with a fifth motor, the output end of the fifth motor is fixedly connected with a third arm through a first connecting shaft, the tail end of the third arm is rotatably connected with the front end of the second arm in a clamping manner, and the front end of the third arm is fixedly connected with a rotating mechanism, the movable end of the rotating mechanism is provided with a connector, and the connector is fixedly connected with the connecting seat.
Preferably, rotary mechanism includes the frame, the inside fixedly connected with sixth motor of frame, the output fixedly connected with second action wheel of sixth motor, the surface of second action wheel is connected with the second through second synchronous belt drive from the driving wheel, the second is from the center fixedly connected with second connecting axle of driving wheel, the outer end and the connector fixed connection of second connecting axle, the second connecting axle rotates with the frame to be connected.
Preferably, the third motor and the sixth motor both adopt double-end servo motors.
Preferably, the second motor is fixed to the first slider.
Preferably, the first clamping hand comprises a first connecting frame, the middle of the first connecting frame is connected with a second screw shaft in a rotating mode, the two sides of the second screw shaft are connected with first clamping frames in a threaded mode, the two sides of the first clamping frames are connected with second guide rods in a sliding mode, one end of the second screw shaft is fixedly connected with a seventh motor, the shell of the seventh motor is fixedly connected with the two ends of the second guide rods in a sliding mode, and the two sides of the second screw shaft are opposite in threaded rotation direction.
Preferably, the second tong includes the second link, the middle part of second link rotates and is connected with the third silk axle, the equal threaded connection in both sides of third silk axle has the second holder, the outside equidistance fixedly connected with gyro wheel of second holder, the equal sliding connection in both sides of second holder has the third guide arm, the eighth motor of one end fixedly connected with of third silk axle, the casing of eighth motor and the both ends of third guide arm all with second link fixed connection, third silk axle both sides screw thread direction of rotation is opposite.
Preferably, the camera is a CCD camera.
Compared with the prior art, the invention has the beneficial effects that:
according to the invention, the rail type multi-shaft mechanical arm is matched with the mechanical arm, so that the hub can be freely moved in a short distance or a long distance in an all-round way, the operation range is large, the hub transportation can be carried out by replacing manpower, the use safety is high, the potential safety hazard is small, and the labor intensity is low; and the manipulator adopts the design of two tong, can alternate use, and application scope is wide, also can change and carry on special tong, uses the flexibility high, can satisfy to make various state centre gripping to the wheel hub, and set the CCD camera simultaneously, can carry out intelligent recognition to wheel hub processing state, satisfies that wheel hub makes different workshop sections intelligence clamp and gets, is favorable to wheel hub processing to produce the line to intelligent, full automation and produces the line development.
Drawings
FIG. 1 is a schematic overall structural diagram of an automatic hub forging processing robot according to the present invention;
FIG. 2 is an exploded view of the components of an automated hub forging robot of the present invention;
FIG. 3 is an exploded view of a track structure of an automated hub forging robot according to the present invention;
FIG. 4 is an exploded view of the arm structure of an automated hub forging robot according to the present invention;
FIG. 5 is an exploded view of a robot arm structure of an automated hub forging robot according to the present invention;
FIG. 6 is a schematic structural view of a rotating mechanism of an automatic hub forging robot according to the present invention;
FIG. 7 is a schematic structural view of a first gripper of an automated hub forging robot according to the present invention;
FIG. 8 is a schematic structural view of a second gripper of the automatic hub forging robot according to the present invention.
In the figure: 1. a mechanical arm; 11. a track; 111. a base; 112. a first wire shaft; 113. a first slider; 114. a pinion gear; 115. a main gear; 116. a first motor; 117. a first guide bar; 12. an arm body; 121. a second motor; 122. a rotating frame; 123. a first arm; 124. a third motor; 125. a first drive wheel; 126. a first synchronization belt; 127. a first driven wheel; 128. a fourth motor; 129. a second arm; 130. a fifth motor; 131. a first connecting shaft; 132. a third arm; 133. a rotation mechanism; 1331. a frame; 1332. a sixth motor; 1333. a second drive wheel; 1334. a second synchronous belt; 1335. a second driven wheel; 1336. a second connecting shaft; 134. a connector; 2. a manipulator; 21. a connecting seat; 22. rotating the oil cylinder; 23. a first gripper; 231. a first connecting frame; 232. a second wire shaft; 233. a first clamping frame; 234. a second guide bar; 235. a seventh motor; 24. a second gripper; 241. a second link frame; 242. a third wire shaft; 243. a second clamping frame; 244. a roller; 245. a third guide bar; 246. an eighth motor; 25. an electromagnet; 26. a camera is provided.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by a person of ordinary skill in the art without creative efforts based on the embodiments of the present invention belong to the protection scope of the present invention.
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for purposes of illustration only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1-8, the present invention provides a technical solution:
an automatic hub forging processing robot comprises a mechanical arm 1, a mechanical arm 2 is arranged at the front end of the mechanical arm 1, the mechanical arm 1 consists of a track 11 and an arm body 12, the mechanical arm 2 comprises a connecting seat 21, a first clamping hand 23 and a second clamping hand 24 are respectively and fixedly connected to the upper side and the lower side of the connecting seat 21 through a rotating oil cylinder 22, electromagnets 25 are fixedly connected to the front side and the rear side of the connecting seat 21 at equal distances, a camera 26 is fixedly connected to the center of the outer side of the connecting seat 21, the machining hub can be freely moved in a short distance or a long distance in an all-around manner by matching the rail type multi-shaft mechanical arm with the mechanical arm, the mechanical arm adopts a double-clamping-hand design, can be alternately used, has a wide application range, can be replaced by carrying special clamping hands, has high use flexibility, can meet the requirement of clamping the hub in various states, is simultaneously provided with a CCD camera, and can intelligently identify the machining state of the hub, satisfy wheel hub and make different workshop sections intelligence clamp and get, be favorable to wheel hub processing to produce the line to intelligent, full automation line development.
In this embodiment, referring to fig. 3, the track 11 includes a base 111, a first screw 112 is rotatably connected to a middle portion of the base 111, a first slider 113 is slidably connected to a surface of the first screw 112, a pinion 114 is fixedly connected to one end of the first screw 112, a main gear 115 is engaged with a top of the pinion 114, a first motor 116 is fixedly connected to a middle portion of the main gear 115, a housing of the first motor 116 is fixed to the base 111, and the first motor 116 is used to cooperate with the first screw 112 to drive the arm 12 to move transversely as a whole, so as to realize remote transportation; both sides of the first sliding block 113 are slidably connected with first guide rods 117, and both ends of the first guide rods 117 are fixedly connected with the base 111, so that the structural motion stability is ensured.
In this embodiment, referring to fig. 4, the arm body 12 includes a second motor 121, an output end of the second motor 121 is fixedly connected with a rotating frame 122, a front side of the rotating frame 122 is rotatably connected with a first arm 123, a top rear side of the rotating frame 122 is fixedly connected with a third motor 124, an output end of the third motor 124 is fixedly connected with a first driving wheel 125, a surface of the first driving wheel 125 is in transmission connection with a first driven wheel 127 through a first synchronizing belt 126, the first driven wheel 127 is fixedly connected with the first arm 123, an outer end side of the first arm 123 is fixedly connected with a fourth motor 128, an output end of the fourth motor 128 is fixedly connected with a second arm 129, a tail end of the second arm 129 is fixedly connected with a fifth motor 130, an output end of the fifth motor 130 is fixedly connected with a third arm 132 through a first connecting shaft 131, a tail end of the third arm 132 is in snap-on rotary connection with a front end of the second arm 129, a front end of the third arm 132 is fixedly connected with a rotary mechanism 133, the movable end of the rotating mechanism 133 is provided with a connector 134, and the connector 134 is fixedly connected with the connecting seat 21; the rotating mechanism 133 includes a frame 1331, a sixth motor 1332 is fixedly connected inside the frame 1331, an output end of the sixth motor 1332 is fixedly connected with a second driving wheel 1333, a second driven wheel 1335 is connected to the surface of the second driving wheel 1333 through a second synchronous belt 1334 in a transmission manner, a second connecting shaft 1336 is fixedly connected to the center of the second driven wheel 1335, an outer end of the second connecting shaft 1336 is fixedly connected to the connecting head 134, the second connecting shaft 1336 is rotatably connected to the frame 1331, and the second motor 121, the third motor 124, the fourth motor 128, the fifth motor 130 and the sixth motor 1332 are matched with corresponding transmission mechanisms thereof to drive the arm body 12 to realize the multi-shaft near-distance omnidirectional movement of the connecting head 134.
In this embodiment, referring to fig. 4 and fig. 6, the third motor 124 and the sixth motor 1332 both adopt double-headed servo motors, so as to improve structural strength and ensure motion stability.
In this embodiment, referring to fig. 2, the second motor 121 is fixed on the first sliding block 113 to meet the requirement of structural design.
In this embodiment, referring to fig. 7, the first clamping hand 23 includes a first connecting frame 231, a second screw shaft 232 is rotatably connected to the middle of the first connecting frame 231, both sides of the second screw shaft 232 are both connected with a first clamping frame 233 by screw threads, both sides of the first clamping frame 233 are both connected with a second guide rod 234 by sliding, one end of the second screw shaft 232 is fixedly connected with a seventh motor 235, both ends of a housing of the seventh motor 235 and both ends of the second guide rod 234 are both fixedly connected with the first connecting frame 231, the screw threads on both sides of the second screw shaft 232 have opposite rotating directions, and the seventh motor 235 is used to cooperate with the second screw shaft 232 to loosen and clamp the first clamping hand 23, so as to clamp and transport each section before the hub is molded.
In this embodiment, referring to fig. 8, the second gripper 24 includes a second connecting frame 241, a third screw shaft 242 is rotatably connected to the middle of the second connecting frame 241, both sides of the third screw shaft 242 are both connected with a second clamping frame 243 through threads, rollers 244 are fixedly connected to the outer side of the second clamping frame 243 at equal intervals, both sides of the second clamping frame 243 are both connected with a third guide rod 245 in a sliding manner, one end of the third screw shaft 242 is fixedly connected with an eighth motor 246, both ends of a housing of the eighth motor 246 and the third guide rod 245 are both fixedly connected with the second connecting frame 241, the rotation directions of the threads at both sides of the third screw shaft 242 are opposite, and the eighth motor 246 is used to cooperate with the third screw shaft 242 to loosen and clamp the second gripper 24, and cooperate with the rollers to clamp and transfer each section after the hub is formed.
In this embodiment, camera 26 is the CCD camera, realizes image acquisition, makes things convenient for centre gripping intelligent recognition.
The working principle of the invention is as follows: when in use, the rotating frame 122 of the second 121 belt is used for rotating to drive the arm body 12 to rotate by 360 degrees integrally; the third motor 124 is used for driving the first driving wheel 125 to rotate, the first driving wheel 125 drives the first driven wheel 127 to rotate through the first synchronous belt 126, and the first driven wheel 1227 drives the first arm 123 to rotate forwards and backwards; the fourth motor 128 is used for driving the second arm 129 to rotate up and down; the fifth motor 130 is used for driving the first connecting shaft 131 to rotate, and the first connecting shaft 131 drives the third arm 132 to rotate for 360 degrees; a sixth motor 1332 is used for driving a second driving wheel 1333 to rotate, the second driving wheel 1333 drives a second driven wheel 1335 to rotate through a second synchronous belt 1334, the second driven wheel 1335 drives a second connecting shaft 1336 to rotate, and the second connecting shaft 1336 drives the connecting head 134 to rotate up and down; thereby driving the manipulator 2 to do all-directional movement; a first motor 116 is used for driving a main gear 115 to rotate, the main gear 115 drives an auxiliary gear 114 to rotate, the auxiliary gear 114 drives a first screw shaft 112 to rotate, the first screw shaft 112 drives a first sliding block 113 to transversely move, and then the arm body 12 is integrally driven to transversely move, so that the manipulator 2 is driven to transversely move, and the large-range transfer of the hub is realized; meanwhile, according to the clamping requirement, the oil cylinders 22 on the upper side and the lower side of the connecting seat 221 are correspondingly controlled through an external controller, so that the corresponding first clamping hand 23 or the corresponding second clamping hand 24 is controlled to turn to a working position, when the first clamping hand 23 turns outwards to the working position (the second clamping hand 24 is in a storage position), the seventh motor 235 is used for driving the second screw shaft 232 to rotate, the reverse threads on the two sides of the second screw shaft 232 are used for driving the first clamping frame 233 to move inwards and outwards along the second guide rod 234, and loosening and clamping of the first clamping hand 23 are realized (the clamping device is suitable for clamping and using of each section before hub forming, such as aluminum bars and primary forging); when the second clamping hand 24 is turned outwards to the working position (the first clamping hand 23 is in the storage position), the eighth motor 246 is used for driving the third screw shaft 242 to rotate, reverse threads on two sides of the third screw shaft 242 are used for driving the second clamping frame 243 to move inwards and outwards along the third guide rod 245, and the roller 244 on the second clamping frame 243 is driven to move relatively, so that loosening and clamping of the second clamping hand 24 are realized (the clamping device is suitable for clamping and using in each section after the hub is formed); in the clamping process, CCD intelligent identification clamping can be carried out through the camera 26, and mistaken clamping is avoided.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The utility model provides a wheel hub forges automated processing robot, includes arm (1), its characterized in that: the front end of arm (1) is provided with manipulator (2), arm (1) comprises track (11) and arm body (12), manipulator (2) are including connecting seat (21), the upper and lower both sides of connecting seat (21) are all through first tong (23) of rotatory hydro-cylinder (22) difference fixedly connected with and second tong (24), the impartial distance fixedly connected with electro-magnet (25) in preceding, back both sides of connecting seat (21), outside center fixedly connected with camera (26) of connecting seat (21).
2. The automatic processing robot for hub forging according to claim 1, wherein: the track (11) comprises a base (111), a first screw shaft (112) is rotatably connected to the middle of the base (111), a first sliding block (113) is slidably connected to the surface of the first screw shaft (112), a secondary gear (114) is fixedly connected to one end of the first screw shaft (112), a main gear (115) is meshed with the top of the secondary gear (114), a first motor (116) is fixedly connected to the middle of the main gear (115), and a shell of the first motor (116) is fixed to the base (111).
3. The automatic processing robot for hub forging according to claim 2, wherein: both sides of the first sliding block (113) are connected with first guide rods (117) in a sliding mode, and both ends of each first guide rod (117) are fixedly connected with the base (111).
4. The automatic processing robot for hub forging according to claim 1, wherein: the arm body (12) comprises a second motor (121), the output end of the second motor (121) is fixedly connected with a rotating frame (122), the front side of the rotating frame (122) is rotatably connected with a first arm (123), the rear side of the top of the rotating frame (122) is fixedly connected with a third motor (124), the output end of the third motor (124) is fixedly connected with a first driving wheel (125), the surface of the first driving wheel (125) is connected with a first driven wheel (127) through a first synchronous belt (126), the first driven wheel (127) is fixedly connected with the first arm (123), one side of the outer end of the first arm (123) is fixedly connected with a fourth motor (128), the output end of the fourth motor (128) is fixedly connected with a second arm (129), the tail end of the second arm (129) is fixedly connected with a fifth motor (130), the output end of the fifth motor (130) is fixedly connected with a third arm (132) through a first connecting shaft (131), the tail end of third arm (132) and second arm (129) front end buckle formula rotate to be connected, the front end fixedly connected with rotary mechanism (133) of third arm (132), rotary mechanism's (133) expansion end is provided with connector (134), connector (134) and connecting seat (21) fixed connection.
5. The automatic processing robot for hub forging according to claim 4, wherein: the rotating mechanism (133) comprises a frame (1331), a sixth motor (1332) is fixedly connected to the inside of the frame (1331), a second driving wheel (1333) is fixedly connected to the output end of the sixth motor (1332), a second driven wheel (1335) is connected to the surface of the second driving wheel (1333) through a second synchronous belt (1334) in a transmission manner, a second connecting shaft (1336) is fixedly connected to the center of the second driven wheel (1335), the outer end of the second connecting shaft (1336) is fixedly connected with the connecting head (134), and the second connecting shaft (1336) is rotatably connected with the frame (1331).
6. The automatic processing robot for hub forging according to claim 5, wherein: the third motor (124) and the sixth motor (1332) both adopt double-head servo motors.
7. The automatic hub forging machining robot of any one of claims 2 or 4, wherein: the second motor (121) is fixed on the first sliding block (113).
8. The automatic processing robot for hub forging according to claim 1, wherein: first tong (23) includes first link (231), the middle part of first link (231) is rotated and is connected with second silk axle (232), the equal threaded connection in both sides of second silk axle (232) has first clamp (233), the equal sliding connection in both sides of first clamp (233) has second guide arm (234), the one end fixedly connected with seventh motor (235) of second silk axle (232), the casing of seventh motor (235) and the both ends of second guide arm (234) all with first link (231) fixed connection, second silk axle (232) both sides screw thread direction of rotation is opposite.
9. The automatic processing robot for hub forging according to claim 1, wherein: second tong (24) includes second link (241), the middle part of second link (241) is rotated and is connected with third silk axle (242), the equal threaded connection in both sides of third silk axle (242) has second clamping frame (243), the outside equidistance fixedly connected with gyro wheel (244) of second clamping frame (243), the equal sliding connection in both sides of second clamping frame (243) has third guide arm (245), the one end fixedly connected with eighth motor (246) of third silk axle (242), the casing of eighth motor (246) and the both ends of third guide arm (245) all with second link (241) fixed connection, third silk axle (242) both sides screw thread direction of rotation is opposite.
10. The automated hub forging machining robot of claim 1, wherein: the camera (26) is a CCD camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210343372.9A CN114604621B (en) | 2022-04-02 | 2022-04-02 | Automatic processing robot for hub forging |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210343372.9A CN114604621B (en) | 2022-04-02 | 2022-04-02 | Automatic processing robot for hub forging |
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| CN114604621A true CN114604621A (en) | 2022-06-10 |
| CN114604621B CN114604621B (en) | 2023-08-11 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115592484A (en) * | 2022-12-13 | 2023-01-13 | 连云港阿瑞氏金属材料有限公司（Cn） | Convertible automobile wheel hub processing arm |
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| WO1996008346A1 (en) * | 1994-09-15 | 1996-03-21 | Dennis Gemmell | Dual head attachment for a robotic arm |
| KR20060018963A (en) * | 2004-08-26 | 2006-03-03 | 현대중공업 주식회사 | Servo hand of robot |
| CN111002288A (en) * | 2019-12-25 | 2020-04-14 | 中科精瓒(武汉)医疗技术有限公司 | Transfer mechanical arm |
| KR20220019618A (en) * | 2020-08-10 | 2022-02-17 | 지앙수 위에다 인베스트먼트 컴퍼니 리미티드 | A car washing robot based manipulator |
| WO2022041867A1 (en) * | 2020-08-27 | 2022-03-03 | 南京涵铭置智能科技有限公司 | Intelligent sorting device for urban household waste, and method |
| CN213801889U (en) * | 2020-09-18 | 2021-07-27 | 罗鹏 | Manipulator convenient to transport work piece |
| CN112223271A (en) * | 2020-10-21 | 2021-01-15 | 南京科技职业学院 | Robot arm |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115592484A (en) * | 2022-12-13 | 2023-01-13 | 连云港阿瑞氏金属材料有限公司（Cn） | Convertible automobile wheel hub processing arm |
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| CN114604621B (en) | 2023-08-11 |
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